Releases: google-deepmind/mujoco
2.3.1
Python bindings
- The
simulate
GUI is now available through themujoco
Python package asmujoco.viewer
. See documentation for details. (Contribution by Levi Burner.) - The
Renderer
class from the MuJoCo tutorial Colab is now available directly in the native Python bindings.
General
-
The tendon
springlength
attribute can now take two values. Given two non-decreasing values,springlength
specifies a deadband range for spring stiffness. If the tendon length is between the two values, the force is 0. If length is outside this range, the force behaves like a regular spring, with the spring resting length corresponding to the nearestspringlength
value. This can be used to create tendons whose limits are enforced by springs rather than constraints, which are cheaper and easier to analyse. See tendon_springlength.xml example model. This is a minor breaking API change.mjModel.tendon_lengthspring
now has sizentendon x 2
rather thanntendon x 1
. -
Removed the requirement that stateless actuators come before stateful actuators.
-
Added mju_fill, mju_symmetrize and mju_eye utility functions.
-
Added
gravcomp
attribute to body implementing gravity compensation and buoyancy. See balloons.xml example model. -
Renamed the
cable
plugin library toelasticity
. -
Added
actdim
attribute to general actuators. Values greater than 1 are only allowed foruser
, as native activation dynamics are all scalar. Added example test implementing 2nd-order activation dynamics to engine_forward_test.cc. -
Improved particle composite type, which now permits a user-specified geometry and multiple joints. See the two new examples: particle_free.xml and particle_free2d.xml.
-
Performance improvements for non-AVX configurations:
- 14% faster
mj_solveLD
using restrict. See engine_core_smooth_benchmark_test. - 50% faster
mju_dotSparse
using manual loop unroll. See engine_util_sparse_benchmark_test.
- 14% faster
-
Added new
solid
passive force plugin.- This is new force field compatible with the composite particles.
- Generates a tetrahedral mesh having particles with mass concentrated at vertices.
- Uses a piecewise-constant strain model equivalent to finite elements but expressed in a coordinate-free
formulation. This implies that all quantities can be precomputed except edge elongation, as in a mass-spring model. - Only suitable for small strains (large displacements but small deformations). Tetrahedra may invert if subject to
large loads.
-
Added API functions mj_loadPluginLibrary and mj_loadAllPluginLibraries. The first function is identical to
dlopen
on a POSIX system, and toLoadLibraryA
on Windows. The second function scans a specified directory for all dynamic libraries file and loads each library found. Dynamic libraries opened by these functions are assumed to register one or more MuJoCo plugins on load. -
Added an optional
visualize
callback to plugins, which is called duringmjv_updateScene
. This callback allows custom plugin visualizations. Enable stress visualization for the Cable plugin as an example. -
Sensors of type user no longer require
objtype
,objname
andneedstage
. If unspecified, the objtype is now mjOBJ_UNKNOWN.user
sensorsdatatype
default is nowreal
,needstage
default is nowacc
. -
Added support for capsules in URDF import.
-
On macOS, issue an informative error message when run under Rosetta 2 translation on an Apple Silicon machine. Pre-built MuJoCo binaries make use of AVX instructions on x86-64 machines, which is not supported by Rosetta 2. (Before this version, users only get a cryptic "Illegal instruction" message.)
Bug fixes
- Fixed bug in
mj_addFileVFS
that was causing the file path to be ignored (introduced in 2.1.4).
Simulate
- Renamed the directory in which the
simulate
application searches for plugins fromplugin
tomujoco_plugin
. - Mouse force perturbations are now applied at the selection point rather than the body center of mass.
Python bindings 2.3.1.post1
(6 December 2022)
- Fix type annotations in
mujoco.viewer
that were causing errors in Python 3.7 and 3.8.
2.3.0
General
-
The
contact
array and arrays prefixed withefc_
inmjData
were moved out of thebuffer
into a newarena
memory space. These arrays are no longer allocated with fixed sizes whenmjData
is created. Instead, the exact memory requirement is determined during each call tomj_forward
(specifically, inmj_collision
andmj_makeConstraint
) and the arrays are allocated from thearena
space. Thestack
now also shares its available memory witharena
. This change reduces the memory footprint ofmjData
in models that do not use the PGS solver, and will allow for significant memory reductions in the future. See the Memory allocation section for details. -
Added colab notebook tutorial showing how to balance the humanoid on one leg with a Linear Quadratic Regulator. The
notebook uses MuJoCo's native Python bindings, and includes a draftRenderer
class, for easy rendering in Python. Try it yourself: -
Updates to humanoid model:
- Added two keyframes (stand-on-one-leg and squat).
- Increased maximum hip flexion angle.
- Added hamstring tendons which couple the hip and knee at high hip flexion angles.
- General cosmetic improvements, including improved use of defaults and better naming scheme.
-
Added
mju_boxQP
and allocation functionmju_boxQPmalloc
for solving the box-constrained Quadratic Program:$x^* = \text{argmin} ; \tfrac{1}{2} x^T H x + x^T g \quad \text{s.t.} \quad l \le x \le u$ The algorithm, introduced in Tassa et al. 2014, converges after 2-5 Cholesky factorisations, independent of problem size. -
Added
mju_mulVecMatVec
to multiply a square matrix$M$ with vectors$x$ and$y$ on both sides. The function returns$x^TMy$ . -
Added new plugin API. Plugins allow developers to extend MuJoCo's capability without modifying core engine code. The plugin mechanism is intended to replace the existing callbacks, though these will remain for the time being as an option for simple use cases and backward compatibility. The new mechanism manages stateful plugins and supports multiple plugins from different sources, allowing MuJoCo extensions to be introduced in a modular fashion, rather than as global overrides. Note the new mechanism is currently undocumented except in code, as we test it internally. If you are interested in using the plugin mechanism, please get in touch first.
-
Added
assetdir
compiler option, which sets the values of bothmeshdir
andtexturedir
. Values in the latter attributes take precedence overassetdir
. -
Added
realtime
option tovisual
for starting a simulation at a slower speed. -
Added new
cable
composite type:- Cable elements are connected with ball joints.
- The
initial
parameter specifies the joint at the starting boundary:free
,ball
, ornone
. - The boundary bodies are exposed with the names
B_left
andB_right
. - The vertex initial positions can be specified directly in the XML with the parameter
vertex
. - The orientation of the body frame is the orientation of the material frame of the curve.
-
Added new
cable
passive force plugin:- Twist and bending stiffness can be set separately with the parameters
twist
andbend
. - The stress-free configuration can be set to be the initial one or flat with the flag
flat
. - New cable.xml example showing the formation of plectoneme.
- New coil.xml example showing a curved equilibrium configuration.
- New belt.xml example showing interaction between twist and anisotropy.
- Added test using cantilever exact solution.
- Twist and bending stiffness can be set separately with the parameters
Python bindings
-
Added
id
andname
properties to named accessor objects. These provide more Pythonic API access tomj_name2id
andmj_id2name
respectively. -
The length of
MjData.contact
is nowncon
rather thannconmax
, allowing it to be straightforwardly used as
an iterator without needing to checkncon
. -
Fix a memory leak when a Python callable is installed as callback (#527).
2.2.2
General
-
Added adhesion actuators mimicking vacuum grippers and adhesive biomechanical appendages.
-
Added related example model and video.
-
Added
mj_jacSubtreeCom
for computing the translational Jacobian of the center-of-mass of a subtree. -
Added
torquescale
andanchor
attributes toweld
constraints.torquescale
sets the torque-to-force ratio exerted by the constraint,anchor
sets the point at which the weld wrench is applied. See weld for more details. -
Increased
mjNEQDATA
, the row length of equality constraint parameters inmjModel.eq_data
, from 7 to 11. -
Added visualisation of anchor points for both
connect
andweld
constraints (activated by the 'N' key insimulate
). -
Added weld.xml showing different uses of new weld attributes.
-
Cartesian 6D end-effector control is now possible by adding a reference site to actuators with
site
transmission. See description of newrefsite
attribute in the actuator documentation and refsite.xml example model. Video -
Added
autolimits
compiler option. Iftrue
, joint and tendonlimited
attributes and actuatorctrllimited
,forcelimited
andactlimited
attributes will automatically be set totrue
if the corresponding range is defined andfalse
otherwise.If
autolimits="false"
(the default) models where arange
attribute is specified without thelimited
attribute will fail to compile. A future release will change the default ofautolimits
totrue
, and this compilation error allows users to catch this future change of behavior.This is a breaking change. In models where a range was defined but
limited
was unspecified, explicitly set limited tofalse
or remove the range to maintain the current behavior of your model. -
Added moment of inertia computation for all well-formed meshes. This option is activated by setting the compiler flag
exactmeshinertia
totrue
(defaults tofalse
). This default may change in the future. -
Added parameter
shellinertia
togeom
, for locating the inferred inertia on the boundary (shell). Currently only meshes are supported. -
For meshes from which volumetric inertia is inferred, raise error if the orientation of mesh faces is not consistent. If this occurs, fix the mesh in e.g., MeshLab or Blender.
-
Added catenary visualisation for hanging tendons. The model seen in the video can be found here.
-
Added
azimuth
andelevation
attributes to visual/global, defining the initial orientation of the free camera at model load time. -
Added
mjv_defaultFreeCamera
which sets the default free camera, respecting the above attributes. -
simulate
now supports taking a screenshot via a button in the File section or viaCtrl-P
. -
Improvements to time synchronisation in
simulate
, in particular report actual real-time factor if different from requested factor (if e.g., the timestep is so small that simulation cannot keep up with real-time). -
Added a disable flag for sensors.
-
mju_mulQuat
andmju_mulQuatAxis
support in place computation. For examplemju_mulQuat(a, a, b);
sets the quaterniona
equal to the product ofa
andb
. -
Added sensor matrices to
mjd_transitionFD
(note this is an API change).
Deleted/deprecated features
- Removed
distance
constraints.
Bug fixes
- Fixed rendering of some transparent geoms in reflection.
- Fixed
intvelocity
defaults parsing.
2.2.1
General
- Added
mjd_transitionFD
to compute efficient finite difference approximations of the state-transition and control-transition matrices, see here for more details. - Added derivatives for the ellipsoid fluid model.
- Added
ctrl
attribute to keyframes. - Added
clock
sensor which measures time. - Added visualisation groups to skins.
- Added actuator visualisation for
free
andball
joints and for actuators withsite
transmission. - Added visualisation for actuator activations.
- Added
<intvelocity>
actuator shortcut for "integrated velocity" actuators, documented here. - Added
<damper>
actuator shortcut for active-damping actuators, documented here. mju_rotVecMat
andmju_rotVecMatT
now support in-place multiplication.mjData.ctrl
values are no longer clamped in-place, remain untouched by the engine.- Arrays in mjData's buffer now align to 64-byte boundaries rather than 8-byte.
- Add memory poisoning when building with Address Sanitizer (ASAN) and Memory Sanitizer (MSAN). This allows ASAN to detect reads and writes to regions in
mjModel.buffer
andmjData.buffer
that do not lie within an array, and for MSAN to detect reads from uninitialised fields inmjData
followingmj_resetData
. - Add a slider-crank example to
model/
.
Bug fixes
- Activation clamping was not being applied in the implicit integrator.
- Stricter parsing of orientation specifiers. Before this change, a specification that included both
quat
and an alternative specifier e.g.,<geom ... quat=".1 .2 .3 .4" euler="10 20 30">
, would lead to thequat
being ignored and onlyeuler
being used. After this change a parse error will be thrown. - Stricter parsing of XML attributes. Before this change an erroneous XML snippet like
<geom size="1/2 3 4">
would have been parsed assize="1 0 0"
and no error would have been thrown. Now throws an error. - Trying to load a
NaN
via XML like<geom size="1 NaN 4">
, while allowed for debugging purposes, will now print a warning. - Fixed null pointer dereference in
mj_loadModel
. - Fixed memory leaks when loading an invalid model from MJB.
- Integer overflows are now avoided when computing
mjModel
buffer sizes. - Added missing warning string for
mjWARN_BADCTRL
.
Packaging
- Changed MacOS packaging so that the copy of
mujoco.framework
embedded inMuJoCo.app
can be used to build applications externally.
2.2.0
Open Sourcing
-
MuJoCo is now fully open-source software. Newly available top level directories are:
src/
: All source files. Subdirectories correspond to the modules described in the Programming chapter introduction:src/engine/
: Core engine.src/xml/
: XML parser.src/user/
: Model compiler.src/visualize/
: Abstract visualizer.src/ui/
: UI framework.
test/
: Tests and corresponding asset files.dist/
: Files related to packaging and binary distribution.
-
Added contributor's guide and style guide.
General
-
Added analytic derivatives of smooth (unconstrained) dynamics forces, with respect to velocities:
- Centripetal and Coriolis forces computed by the Recursive Newton-Euler algorithm.
- Damping and fluid-drag passive forces.
- Actuation forces.
-
Added
implicit
integrator. Using the analytic derivatives above, a new implicit-in-velocity integrator was added. This integrator lies between the Euler and Runge Kutta integrators in terms of both stability and computational cost. It is most useful for models which use fluid drag (e.g. for flying or swimming) and for models which use velocity actuators. For more details, see the Numerical Integration section. -
Added
actlimited
andactrange
attributes to general actuators, for clamping actuator internal states (activations). This clamping is useful for integrated-velocity actuators, see the Activation clamping section for details. -
mjData
fieldsqfrc_unc
(unconstrained forces) andqacc_unc
(unconstrained accelerations) were renamedqfrc_smooth
andqacc_smooth
, respectively. While "unconstrained" is precise, "smooth" is more intelligible than "unc". -
Public headers have been moved from
/include
to/include/mujoco/
, in line with the directory layout common in other open source projects. Developers are encouraged to include MuJoCo public headers in their own codebase via#include <mujoco/filename.h>
. -
The default shadow resolution specified by the shadowsize attribute was increased from 1024 to 4096.
-
Saved XMLs now use 2-space indents.
Bug fixes
-
Antialiasing was disabled for segmentation rendering. Before this change, if the offsamples attribute was greater than 0 (the default value is 4), pixels that overlapped with multiple geoms would receive averaged segmentation IDs, leading to incorrect or non-existent IDs. After this change
offsamples
is ignored during segmentation rendering. -
The value of the enable flag for the experimental multiCCD feature was made sequential with other enable flags. Sequentiality is assumed in the
simulate
UI and elsewhere. -
Fix issue of duplicated meshes when saving models with OBJ meshes using
mj_saveLastXML
.
Update 1 (27 May 2022): Replaced Linux tarball to fix RPATH on the sample binaries. No change in functionality.
2.1.5
General
- Added an experimental feature: multi-contact convex collision detection, activated by an enable flag. See full
description here.
Bug fixes
-
GLAD initialization logic on Linux now calls
dlopen
to load a GL platform dynamic library if a*GetProcAddress
function is not already present in the process' global symbol table. In particular, processes that use GLFW to set up a rendering context that are not explicitly linked againstlibGLX.so
(this applies to the Python interpreter, for example) will now work correctly rather than fail with agladLoadGL
error whenmjr_makeContext
is called. Fixes google-deepmind/dm_control#283. -
In the Python bindings, named indexers for scalar fields (e.g. the
ctrl
field for actuators) now return a NumPy array of shape(1,)
rather than()
. This allows values to be assigned to these fields more straightforwardly. Fixes #238.
2.1.4
General
-
MuJoCo now uses GLAD to manage OpenGL API access instead of GLEW. On Linux, there is no longer a need to link against different GL wrangling libraries depending on whether GLX, EGL, or OSMesa is being used. Instead, users can simply use GLX, EGL, or OSMesa to create a GL context and
mjr_makeContext
will detect which one is being used. -
Add visualisation for contact frames. This is useful when writing or modifying collision functions, when the actual direction of the x and y axes of a contact can be important.
Binary build
- The
_nogl
dynamic library is no longer provided on Linux and Windows. The switch to GLAD allows us to resolve OpenGL symbols whenmjr_makeContext
is called rather than when the library is loaded. As a result, the MuJoCo library no longer has an explicit dynamic dependency on OpenGL, and can be used on system where OpenGL is not present.
Simulate
-
Fix a bug in simulate where pressing '[' or ']' when a model is not loaded causes a crash.
-
Contact frame visualisation is added to the Simulate GUI.
-
Rename "set key", "reset to key" to "save key" and "load key", respectively.
-
Change bindings of F6 and F7 from the not very useful "vertical sync" and "busy wait" to the more useful cycling of frames and labels.
Bug fixes
-
mj_resetData
now zeroes out thesolver_nnz
field. -
Remove a special branch in
mju_quat2mat
for unit quaternions. Previously,mju_quat2mat
skipped all computation if the real part of the quaternion equals 1.0. For very small angles (e.g. when finite differencing), the cosine can evaluate to exactly 1.0 at double precision while the sine is still nonzero.
2.1.3
This is a minor release, handling issues discovered after the launch of 2.1.2.
General
simulate
now support cycling through cameras (with[
and]
keys).mjVIS_STATIC
toggles all static bodies, not just direct children of the world.
Python bindings
- Added a
free()
method toMjrContext
, rather than relying on the object destructor. - Enums now support arithmetic and bitwise operations with numbers.
Bug fixes
- Fixed a rendering bug for planes, introduced in 2.1.2. This broke maze environments in
dm_control
.
2.1.2
New modules
- Added new Python bindings, which can be installed via
pip install mujoco
, and imported asimport mujoco
. - Added new Unity plug-in.
- Added a new
introspect
module, which provides reflection-like capability for MuJoCo's public API, currently describing functions and enums. While implemented in Python, this module is expected to be generally useful for automatic code generation targeting multiple languages. (This is not shipped as part of themujoco
Python bindings package.)
API changes
- Moved definition of
mjtNum
floating point type into a new header mjtnum.h. - Renamed header
mujoco_export.h
to mjexport.h. - Added
mj_printFormattedData
, which accepts a format string for floating point numbers, for example to increase precision.
General
- MuJoCo can load OBJ mesh files.
- Meshes containing polygons with more than 4 vertices are not supported.
- In OBJ files containing multiple object groups, any groups after the first one will be ignored.
- Added optional frame-of-reference specification to:
framepos
,framequat
,framexaxis
,frameyaxis
,framezaxis
,framelinvel
, andframeangvel
sensors. The frame-of-reference is specified by newreftype
andrefname
attributes. - Sizes of user parameters are now automatically inferred.
- Declarations of user parameters in the top-level size clause (e.g.
nuser_body
,nuser_jnt
, etc.) now accept a value of -1, which is the default. This will automatically set the value to the length of the maximum associateduser
attribute defined in the model. - Setting a value smaller than -1 will lead to a compiler error (previously a segfault).
- Setting a value to a length smaller than some
user
attribute defined in the model will lead to an error (previously additional values were ignored).
- Declarations of user parameters in the top-level size clause (e.g.
- Increased the maximum number of lights in an
mjvScene
from 8 to 100. - Saved XML files only contain explicit inertial elements if the original XML included them. Inertias that were automatically inferred by the compiler's inertiafromgeom mechanism remain unspecified.
- User-selected geoms are always rendered as opaque. This is useful in interactive visualizers.
- Static geoms now respect their geom group for visualisation. Until this change rendering of static geoms could only be toggled using the
mjVIS_STATIC
visualisation flag . After this change, both the geom group and the visualisation flag need to be enabled for the geom to be rendered. - Pointer parameters in function declarations in mujoco.h that are supposed to represent fixed-length arrays are now spelled as arrays with extents, e.g.
mjtNum quat[4]
rather thanmjtNum* quat
. From the perspective of C and C++, this is a non-change since array types in function signatures decay to pointer types. However, it allows autogenerated code to be aware of expected input shapes. - Experimental stateless fluid interaction model. As described here, fluid forces use sizes computed from body inertia. While sometimes convenient, this is very rarely a good approximation. In the new model forces act on geoms, rather than bodies, and have a several user-settable parameters. The model is activated by setting a new attribute:
<geom fluidshape="ellipsoid"/>
. The parameters are described succinctly here, but we leave a full description or the model and its parameters to when this feature leaves experimental status.
Bug Fixes
mj_loadXML
andmj_saveLastXML
are now locale-independent. The Unity plugin should now work correctly for users whose system locales use commas as decimal separators.- XML assets in VFS no longer need to end in a null character. Instead, the file size is determined by the size parameter of the corresponding VFS entry.
- Fix a vertex buffer object memory leak in
mjrContext
when skins are used. - Camera quaternions are now normalized during XML compilation.
Binary build
- Windows binaries are now built with Clang.
Python bindings 2.1.2.post1
(16 March 2022)
- Removed a stray print statement in
__init__.py
. - Bundled
libglewegl.so
for Linux now has aDT_NEEDED
entry onlibOpenGL.so.0
. (The download packages for Linux below have also been updated with this.) - The sdist can now be built with GCC.
2.1.1
API changes
-
Added
mj_printFormattedModel
, which accepts a format string for floating point numbers, for example to increase precision. -
Added
mj_versionString
, which returns human-readable string that represents the version of the MuJoCo binary. -
Converted leading underscores to trailing underscores in private instances of API struct definitions, to conform to reserved identifier directive, see C standard: Section 7.1.3.
This is a minor breaking change. Code which references private instances will break. To fix, replace leading underscores with trailing underscores, e.g.
struct _mjModel
becomesstruct mjModel_
.
General
- Safer string handling: replaced
strcat
,strcpy
, andsprintf
withstrncat
,strncpy
, and
snprintf
respectively. - Changed indentation from 4 spaces to 2 spaces everywhere.
Bug Fixes
-
Fixed reading from uninitialized memory in PGS solver.
-
Computed capsule inertias are now exact. Until this change, capsule masses and inertias computed by the
compiler
'sinertiafromgeom
mechanism were approximated by a cylinder, formed by the capsule's cylindrical middle section, extended on both ends by half the capsule radius. Capsule inertias are now computed with the Parallel Axis theorem, applied to the two hemispherical end-caps.This is a minor breaking change. Simulation of a model with automatically-computed capsule inertias will be numerically different, leading to, for example, breakage of golden-value tests.
-
Fixed bug related to
force
andtorque
sensors. Until this change, forces torques reported by F/T sensors ignored out-of-tree constraint wrenches except those produced by contacts. Force and and torque sensors now correctly take into account the effects ofconnect
andweld
constraints.Forces generated by spatial tendons which are outside the kinematic tree (i.e. between bodies which have no ancestral relationship) are still not taken into account by force and torque sensors. This remains a future work item.
Code samples
-
testspeed
: Added injection of pseudo-random control noise, turned on by default. This is to avoid settling into some fixed contact configuration and providing an unrealistic timing measure. -
simulate
:- Added slower-than-real-time functionality, which is controlled via the '+' and '-' keys.
- Added sliders for injecting Brownian noise into the controls.
- Added "Print Camera" button to print an MJCF clause with the pose of the current camera.
- The camera pose is not reset when reloading the same model file.
Updated dependencies
TinyXML
was replaced withTinyXML2
6.2.0.qhull
was upgraded to version 8.0.2.libCCD
was upgraded to version 1.4.- On Linux,
libstdc++
was replaced withlibc++
.
Binary build
-
MacOS packaging. We now ship Universal binaries that natively support both Apple Silicon and Intel CPUs.
- MuJoCo library is now packaged as a Framework Bundle, allowing it to be incorporated more easily into Xcode projects (including Swift projects). Developers are encouraged to compile and link against MuJoCo using the
-framework mujoco
flag, however all header files and the ``libmujoco.2.1.1.dylib` library can still be directly accessed inside the framework. - Sample applications are now packaged into an Application Bundle called
MuJoCo.app
. When launched via GUI, the bundle launches thesimulate
executable. Other precompiled sample programs are shipped inside that bundle (inMuJoCo.app/Contents/MacOS
) and can be launched via command line. - Binaries are now signed and the disk image is notarized.
- MuJoCo library is now packaged as a Framework Bundle, allowing it to be incorporated more easily into Xcode projects (including Swift projects). Developers are encouraged to compile and link against MuJoCo using the
-
Windows binaries and libraries are now signed.
-
Link-time optimization is enabled on Linux and macOS, leading to an average of ~20% speedup when benchmarked on
three test models (cloth.xml
,humanoid.xml
, andhumanoid100.xml
). -
Linux binaries are now built with LLVM/Clang instead of GCC.
-
An AArch64 (aka ARM64) Linux build is also provided.
-
Private symbols are no longer stripped from shared libraries on Linux and MacOS.
Sample models
-
Clean-up of the
model/
directory.- Rearranged into subdirectories which include all dependencies.
- Added descriptions in XML comments, cleaned up XMLs.
- Deleted some composite models:
grid1
,grid1pin
,grid2
,softcylinder
,softellipsoid
.
-
Added descriptive animations in
docs/images/models/
EDIT (30/12/2021 21:45 UTC): Added import libraries mujoco.lib
and mujoco_nogl.lib
to the Windows release package.
EDIT (16/12/2021 21:10 UTC): We've updated the download packages to reflect minor changes in ee39340. These changes only affect the bundled code and asset files. The libraries and binaries behave identically to the original packages released earlier today.